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<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1kinfu_l_s_1_1_world_model-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::kinfuLS::WorldModel&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html" title="WorldModel maintains a 3D point cloud that can be queried and updated via helper functions....">WorldModel</a> maintains a 3D point cloud that can be queried and updated via helper functions.<br  />
The world is represented as a point cloud.<br  />
When new points are added to the world, we replace old ones by the newest ones. This is acheived by setting old points to nan (for speed)  
 <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="world__model_8h_source.html">world_model.h</a>&gt;</code></p>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_condition_and.html">pcl::ConditionAnd</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>ConditionAndPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_condition_or.html">pcl::ConditionOr</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>ConditionOrPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>FieldComparisonConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><b>FieldList</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa399a6338644a2916ad13d6ce44551bb">WorldModel</a> ()</td></tr>
<tr class="memdesc:aa399a6338644a2916ad13d6ce44551bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor for the <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html" title="WorldModel maintains a 3D point cloud that can be queried and updated via helper functions....">WorldModel</a>. <br /></td></tr>
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<tr class="memitem:aa0dd453ec8dd38f6f0c9beb752faebe4"><td class="memItemLeft" align="right" valign="top"><a id="aa0dd453ec8dd38f6f0c9beb752faebe4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa0dd453ec8dd38f6f0c9beb752faebe4">reset</a> ()</td></tr>
<tr class="memdesc:aa0dd453ec8dd38f6f0c9beb752faebe4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the world. <br /></td></tr>
<tr class="separator:aa0dd453ec8dd38f6f0c9beb752faebe4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1e079e6dd2a6fc6743d09de500468d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa1e079e6dd2a6fc6743d09de500468d5">addSlice</a> (const PointCloudPtr new_cloud)</td></tr>
<tr class="memdesc:aa1e079e6dd2a6fc6743d09de500468d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Append a new point cloud (slice) to the world.  <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa1e079e6dd2a6fc6743d09de500468d5">更多...</a><br /></td></tr>
<tr class="separator:aa1e079e6dd2a6fc6743d09de500468d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bdbb16e594492fb868af32ef503c3e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8bdbb16e594492fb868af32ef503c3e4">getExistingData</a> (const double previous_origin_x, const double previous_origin_y, const double previous_origin_z, const double offset_x, const double offset_y, const double offset_z, const double volume_x, const double volume_y, const double volume_z, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;existing_slice)</td></tr>
<tr class="memdesc:a8bdbb16e594492fb868af32ef503c3e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retreive existing data from the world model, after a shift  <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8bdbb16e594492fb868af32ef503c3e4">更多...</a><br /></td></tr>
<tr class="separator:a8bdbb16e594492fb868af32ef503c3e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e0d2d1cf9b60d00c1e2bc83768d49bd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4e0d2d1cf9b60d00c1e2bc83768d49bd">setSliceAsNans</a> (const double origin_x, const double origin_y, const double origin_z, const double offset_x, const double offset_y, const double offset_z, const int size_x, const int size_y, const int size_z)</td></tr>
<tr class="memdesc:a4e0d2d1cf9b60d00c1e2bc83768d49bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Give nan values to the slice of the world  <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4e0d2d1cf9b60d00c1e2bc83768d49bd">更多...</a><br /></td></tr>
<tr class="separator:a4e0d2d1cf9b60d00c1e2bc83768d49bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8fab3c4a6873eb2904de2e89a9d2d00c">cleanWorldFromNans</a> ()</td></tr>
<tr class="memdesc:a8fab3c4a6873eb2904de2e89a9d2d00c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove points with nan values from the world. <br /></td></tr>
<tr class="separator:a8fab3c4a6873eb2904de2e89a9d2d00c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade62787d10f76e37b869f867c20ccb52"><td class="memItemLeft" align="right" valign="top"><a id="ade62787d10f76e37b869f867c20ccb52"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#ade62787d10f76e37b869f867c20ccb52">getWorld</a> ()</td></tr>
<tr class="memdesc:ade62787d10f76e37b869f867c20ccb52"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the world as a point cloud. <br /></td></tr>
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<tr class="memitem:afd6761b541061012851aa24b07001d36"><td class="memItemLeft" align="right" valign="top"><a id="afd6761b541061012851aa24b07001d36"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afd6761b541061012851aa24b07001d36">getWorldSize</a> ()</td></tr>
<tr class="memdesc:afd6761b541061012851aa24b07001d36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the number of points contained in the world. <br /></td></tr>
<tr class="separator:afd6761b541061012851aa24b07001d36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58ba8cc96a192eeda0bf253354a342cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a58ba8cc96a192eeda0bf253354a342cd">getWorldAsCubes</a> (double size, std::vector&lt; PointCloudPtr &gt; &amp;cubes, std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;transforms, double overlap=0.0)</td></tr>
<tr class="memdesc:a58ba8cc96a192eeda0bf253354a342cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the world as two vectors of cubes of size "size" (pointclouds) and transforms  <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a58ba8cc96a192eeda0bf253354a342cd">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:afe4d67535608aa59dd47c969e2b0a07c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">setIndicesAsNans</a> (PointCloudPtr cloud, IndicesConstPtr indices)</td></tr>
<tr class="memdesc:afe4d67535608aa59dd47c969e2b0a07c"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the points which index is in the indices vector to nan  <a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">更多...</a><br /></td></tr>
<tr class="separator:afe4d67535608aa59dd47c969e2b0a07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
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Private 属性</h2></td></tr>
<tr class="memitem:a4f82ce8304166b454eee82323d50e0c5"><td class="memItemLeft" align="right" valign="top"><a id="a4f82ce8304166b454eee82323d50e0c5"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a></td></tr>
<tr class="memdesc:a4f82ce8304166b454eee82323d50e0c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">cloud containing our world <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::kinfuLS::WorldModel&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html" title="WorldModel maintains a 3D point cloud that can be queried and updated via helper functions....">WorldModel</a> maintains a 3D point cloud that can be queried and updated via helper functions.<br  />
The world is represented as a point cloud.<br  />
When new points are added to the world, we replace old ones by the newest ones. This is acheived by setting old points to nan (for speed) </p>
<dl class="section author"><dt>作者</dt><dd>Raphael Favier </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="aa1e079e6dd2a6fc6743d09de500468d5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa1e079e6dd2a6fc6743d09de500468d5">&#9670;&nbsp;</a></span>addSlice()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::addSlice </td>
          <td>(</td>
          <td class="paramtype">const PointCloudPtr&#160;</td>
          <td class="paramname"><em>new_cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Append a new point cloud (slice) to the world. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">new_cloud</td><td>the point cloud to add to the world </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Adding new cloud. Current world contains %d points.\n&quot;</span>, <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;New slice contains %d points.\n&quot;</span>, new_cloud-&gt;points.size ());</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  *<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a> += *new_cloud;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;World now contains  %d points.\n&quot;</span>, <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a4f82ce8304166b454eee82323d50e0c5"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">pcl::kinfuLS::WorldModel::world_</a></div><div class="ttdeci">PointCloudPtr world_</div><div class="ttdoc">cloud containing our world</div><div class="ttdef"><b>Definition:</b> world_model.h:172</div></div>
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<a id="a8bdbb16e594492fb868af32ef503c3e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8bdbb16e594492fb868af32ef503c3e4">&#9670;&nbsp;</a></span>getExistingData()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getExistingData </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>previous_origin_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>previous_origin_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>previous_origin_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>volume_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>volume_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>volume_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>existing_slice</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Retreive existing data from the world model, after a shift </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">previous_origin_x</td><td>global origin of the cube on X axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">previous_origin_y</td><td>global origin of the cube on Y axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">previous_origin_z</td><td>global origin of the cube on Z axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_x</td><td>shift on X, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_y</td><td>shift on Y, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_z</td><td>shift on Z, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">volume_x</td><td>size of the cube, X axis, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">volume_y</td><td>size of the cube, Y axis, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">volume_z</td><td>size of the cube, Z axis, in indices </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">existing_slice</td><td>the extracted point cloud representing the slice </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">double</span> newOriginX = previous_origin_x + offset_x; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">double</span> newOriginY = previous_origin_y + offset_y; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">double</span> newOriginZ = previous_origin_z + offset_z;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">double</span> newLimitX = newOriginX + volume_x; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">double</span> newLimitY = newOriginY + volume_y; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">double</span> newLimitZ = newOriginZ + volume_z;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// filter points in the space of the new cube</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  PointCloudPtr newCube (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// condition</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  ConditionAndPtr range_condAND (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_and.html">pcl::ConditionAnd&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE, newOriginX)));</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT, newLimitX)));</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE, newOriginY)));</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT, newLimitY)));</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE, newOriginZ)));</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  range_condAND-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT, newLimitZ))); </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// build the filter</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condremAND (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  condremAND.setCondition (range_condAND);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  condremAND.setInputCloud (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  condremAND.setKeepOrganized (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  condremAND.filter (*newCube);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// filter points that belong to the new slice</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  ConditionOrPtr range_condOR (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_or.html">pcl::ConditionOr&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span>(offset_x &gt;= 0)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE,  previous_origin_x + volume_x - 1.0 )));</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_x )));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">if</span>(offset_y &gt;= 0)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE,  previous_origin_y + volume_y - 1.0 )));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_y )));</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span>(offset_z &gt;= 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE,  previous_origin_z + volume_z - 1.0 )));</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    range_condOR-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_z )));</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// build the filter</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condrem (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  condrem.setCondition (range_condOR);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  condrem.setInputCloud (newCube);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  condrem.setKeepOrganized (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  condrem.filter (existing_slice);  </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span>(existing_slice.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != 0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">//transform the slice in new cube coordinates</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    Eigen::Affine3f transformation; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    transformation.translation ()[0] = newOriginX;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    transformation.translation ()[1] = newOriginY;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    transformation.translation ()[2] = newOriginZ;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    transformation.linear ().setIdentity ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (existing_slice, existing_slice, transformation.inverse ());</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_condition_and_html"><div class="ttname"><a href="classpcl_1_1_condition_and.html">pcl::ConditionAnd</a></div><div class="ttdoc">AND condition.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:510</div></div>
<div class="ttc" id="aclasspcl_1_1_condition_or_html"><div class="ttname"><a href="classpcl_1_1_condition_or.html">pcl::ConditionOr</a></div><div class="ttdoc">OR condition.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:538</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_removal_html"><div class="ttname"><a href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval</a></div><div class="ttdoc">ConditionalRemoval filters data that satisfies certain conditions.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:595</div></div>
<div class="ttc" id="aclasspcl_1_1_field_comparison_html"><div class="ttname"><a href="classpcl_1_1_field_comparison.html">pcl::FieldComparison</a></div><div class="ttdoc">The field-based specialization of the comparison object.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
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<a id="a58ba8cc96a192eeda0bf253354a342cd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a58ba8cc96a192eeda0bf253354a342cd">&#9670;&nbsp;</a></span>getWorldAsCubes()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getWorldAsCubes </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; PointCloudPtr &gt; &amp;&#160;</td>
          <td class="paramname"><em>cubes</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>transforms</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>overlap</em> = <code>0.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Returns the world as two vectors of cubes of size "size" (pointclouds) and transforms </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">size</td><td>the size of a 3D cube. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cubes</td><td>a vector of point clouds representing each cube (in their original world coordinates). </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transforms</td><td>a vector containing the xyz position of each cube in world coordinates. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">overlap</td><td>optional overlap (in percent) between each cube (usefull to create overlapped meshes). </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span>(<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size () == 0)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    PCL_INFO(<span class="stringliteral">&quot;The world is empty, returning nothing\n&quot;</span>);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;Getting world as cubes. World contains %d points.\n&quot;</span>, <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// remove nans from world cloud</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  pcl::removeNaNFromPointCloud ( *<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, *<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, indices);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;World contains %d points after nan removal.\n&quot;</span>, <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="comment">// check cube size value</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">double</span> cubeSide = size;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">if</span> (cubeSide &lt;= 0.0f)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Size of the cube must be positive and non null (%f given). Setting it to 3.0 meters.\n&quot;</span>, cubeSide);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    cubeSide = 512.0f;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;cube size is set to &quot;</span> &lt;&lt; cubeSide &lt;&lt; std::endl;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// check overlap value</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordtype">double</span> step_increment = 1.0f - overlap;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">if</span> (overlap &lt; 0.0)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Overlap ratio must be positive or null (%f given). Setting it to 0.0 procent.\n&quot;</span>, overlap);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    step_increment = 1.0f;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">if</span> (overlap &gt; 1.0)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Overlap ratio must be less or equal to 1.0 (%f given). Setting it to 10 procent.\n&quot;</span>, overlap);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    step_increment = 0.1f;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="comment">// get world&#39;s bounding values on XYZ</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> min, max;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a>(*<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, min, max);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;Bounding box for the world: \n\t [%f - %f] \n\t [%f - %f] \n\t [%f - %f] \n&quot;</span>, min.x, max.x, min.y, max.y, min.z, max.z);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> origin = min;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// clear returned vectors</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  cubes.clear();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  transforms.clear();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// iterate with box filter</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">while</span> (origin.x &lt; max.x)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    origin.y = min.y;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">while</span> (origin.y &lt; max.y)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      origin.z = min.z;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">while</span> (origin.z &lt; max.z)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="comment">// extract cube here</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        PCL_INFO (<span class="stringliteral">&quot;Extracting cube at: [%f, %f, %f].\n&quot;</span>,  origin.x,  origin.y,  origin.z);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="comment">// pointcloud for current cube.</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        PointCloudPtr box (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="comment">// set conditional filter</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        ConditionAndPtr range_cond (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_and.html">pcl::ConditionAnd&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE, origin.x)));</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT, origin.x + cubeSide)));</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE, origin.y)));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT, origin.y + cubeSide)));</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE, origin.z)));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        range_cond-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT, origin.z + cubeSide)));</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="comment">// build the filter</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condrem;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        condrem.setCondition (range_cond);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        condrem.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        condrem.setKeepOrganized(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        condrem.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*box);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="comment">// also push transform along with points.</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordflow">if</span>(box-&gt;points.size() &gt; 0)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          Eigen::Vector3f transform;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          transform[0] = origin.x, transform[1] = origin.y, transform[2] = origin.z;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          transforms.push_back(transform);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          cubes.push_back(box);        </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          PCL_INFO (<span class="stringliteral">&quot;Extracted cube was empty, skiping this one.\n&quot;</span>);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        origin.z += cubeSide * step_increment;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      origin.y += cubeSide * step_increment;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    origin.x += cubeSide * step_increment;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; <span class="comment">/* for(int c = 0 ; c &lt; cubes.size() ; ++c)</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">    std::stringstream name;</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment">    name &lt;&lt; &quot;cloud&quot; &lt;&lt; c+1 &lt;&lt; &quot;.pcd&quot;;</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment">    pcl::io::savePCDFileASCII(name.str(), *(cubes[c]));</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">    </span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">  }*/</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;returning &quot;</span> &lt;&lt; cubes.size() &lt;&lt; <span class="stringliteral">&quot; cubes&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<a id="afe4d67535608aa59dd47c969e2b0a07c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afe4d67535608aa59dd47c969e2b0a07c">&#9670;&nbsp;</a></span>setIndicesAsNans()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setIndicesAsNans </td>
          <td>(</td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">IndicesConstPtr&#160;</td>
          <td class="paramname"><em>indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>set the points which index is in the indices vector to nan </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the cloud that contains the point to be set to nan </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the vector of indices to set to nan </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;{</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  pcl::for_each_type&lt;FieldList&gt; (<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a> (fields));</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">float</span> my_nan = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rii = 0; rii &lt; static_cast&lt;int&gt; (indices-&gt;size ()); ++rii)  <span class="comment">// rii = removed indices iterator</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span> (&amp;cloud-&gt;points[(*indices)[rii]]);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> fi = 0; fi &lt; static_cast&lt;int&gt; (fields.size ()); ++fi)  <span class="comment">// fi = field iterator</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      memcpy (pt_data + fields[fi].offset, &amp;my_nan, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}</div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_adder_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder</a></div><div class="ttdef"><b>Definition:</b> conversions.h:66</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a4e0d2d1cf9b60d00c1e2bc83768d49bd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4e0d2d1cf9b60d00c1e2bc83768d49bd">&#9670;&nbsp;</a></span>setSliceAsNans()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setSliceAsNans </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>origin_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>origin_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>origin_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>offset_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>size_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>size_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>size_z</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Give nan values to the slice of the world </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">origin_x</td><td>global origin of the cube on X axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin_y</td><td>global origin of the cube on Y axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin_z</td><td>global origin of the cube on Z axis, before the shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_x</td><td>shift on X, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_y</td><td>shift on Y, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset_z</td><td>shift on Z, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">size_x</td><td>size of the cube, X axis, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">size_y</td><td>size of the cube, Y axis, in indices </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">size_z</td><td>size of the cube, Z axis, in indices </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;{ </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="comment">// PCL_DEBUG (&quot;IN SETSLICE AS NANS\n&quot;);</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  PointCloudPtr slice (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// prepare filter limits on all dimensions  </span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordtype">double</span> previous_origin_x = origin_x;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">double</span> previous_limit_x = origin_x + size_x - 1;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordtype">double</span> new_origin_x = origin_x + offset_x;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordtype">double</span> new_limit_x = previous_limit_x + offset_x;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordtype">double</span> previous_origin_y = origin_y;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordtype">double</span> previous_limit_y = origin_y + size_y - 1;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keywordtype">double</span> new_origin_y = origin_y + offset_y;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordtype">double</span> new_limit_y = previous_limit_y + offset_y;  </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordtype">double</span> previous_origin_z = origin_z;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keywordtype">double</span> previous_limit_z = origin_z + size_z - 1;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">double</span> new_origin_z = origin_z + offset_z;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">double</span> new_limit_z = previous_limit_z + offset_z; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;   </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="comment">// get points of slice on X (we actually set a negative filter and set the ouliers (so, our slice points) to nan)</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">double</span> lower_limit_x, upper_limit_x;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span>(offset_x &gt;=0)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    lower_limit_x = previous_origin_x;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    upper_limit_x = new_origin_x;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    lower_limit_x = new_limit_x;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    upper_limit_x = previous_limit_x;    </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="comment">// PCL_DEBUG (&quot;Limit X: [%f - %f]\n&quot;, lower_limit_x, upper_limit_x);</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  ConditionOrPtr range_cond_OR_x (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_or.html">pcl::ConditionOr&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE,  upper_limit_x ))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT,  lower_limit_x ))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_y)));</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_y )));</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_z)));</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  range_cond_OR_x-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_z )));</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condrem_x (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  condrem_x.setCondition (range_cond_OR_x);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  condrem_x.setInputCloud (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  condrem_x.setKeepOrganized (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  condrem_x.filter (*slice);  </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  IndicesConstPtr indices_x = condrem_x.getRemovedIndices ();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="comment">//set outliers (so our slice points) to nan</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">setIndicesAsNans</a>(<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, indices_x);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="comment">// PCL_DEBUG(&quot;%d points set to nan on X\n&quot;, indices_x-&gt;size ());</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="comment">// get points of slice on Y (we actually set a negative filter and set the ouliers (so, our slice points) to nan)</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordtype">double</span> lower_limit_y, upper_limit_y;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <span class="keywordflow">if</span>(offset_y &gt;=0)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    lower_limit_y = previous_origin_y;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    upper_limit_y = new_origin_y;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  {</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    lower_limit_y = new_limit_y;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    upper_limit_y = previous_limit_y;    </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="comment">// PCL_DEBUG (&quot;Limit Y: [%f - %f]\n&quot;, lower_limit_y, upper_limit_y);</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  ConditionOrPtr range_cond_OR_y (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_or.html">pcl::ConditionOr&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_x )));</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_x )));</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE,  upper_limit_y))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT,  lower_limit_y ))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_z)));</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  range_cond_OR_y-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_z )));</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condrem_y (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  condrem_y.setCondition (range_cond_OR_y);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  condrem_y.setInputCloud (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  condrem_y.setKeepOrganized (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  condrem_y.filter (*slice);  </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  IndicesConstPtr indices_y = condrem_y.getRemovedIndices ();</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="comment">//set outliers (so our slice points) to nan</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">setIndicesAsNans</a>(<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, indices_y);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="comment">// PCL_DEBUG (&quot;%d points set to nan on Y\n&quot;, indices_y-&gt;size ());</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <span class="comment">// get points of slice on Z (we actually set a negative filter and set the ouliers (so, our slice points) to nan)</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordtype">double</span> lower_limit_z, upper_limit_z;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">if</span>(offset_z &gt;=0)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    lower_limit_z = previous_origin_z;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    upper_limit_z = new_origin_z;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    lower_limit_z = new_limit_z;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    upper_limit_z = previous_limit_z;    </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">// PCL_DEBUG (&quot;Limit Z: [%f - %f]\n&quot;, lower_limit_z, upper_limit_z);</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  ConditionOrPtr range_cond_OR_z (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_condition_or.html">pcl::ConditionOr&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_x )));</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;x&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_x )));</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::GE,  previous_limit_y)));</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;y&quot;</span>, pcl::ComparisonOps::LT,  previous_origin_y )));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::GE,  upper_limit_z))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  range_cond_OR_z-&gt;addComparison (FieldComparisonConstPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;</a> (<span class="stringliteral">&quot;z&quot;</span>, pcl::ComparisonOps::LT,  lower_limit_z ))); <span class="comment">// filtered dimension</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;</a> condrem_z (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  condrem_z.setCondition (range_cond_OR_z);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  condrem_z.setInputCloud (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  condrem_z.setKeepOrganized (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="comment">// apply filter</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  condrem_z.filter (*slice);  </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  IndicesConstPtr indices_z = condrem_z.getRemovedIndices ();</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="comment">//set outliers (so our slice points) to nan</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">setIndicesAsNans</a>(<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, indices_z);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <span class="comment">// PCL_DEBUG(&quot;%d points set to nan on Z\n&quot;, indices_z-&gt;size ());</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_afe4d67535608aa59dd47c969e2b0a07c"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">pcl::kinfuLS::WorldModel::setIndicesAsNans</a></div><div class="ttdeci">void setIndicesAsNans(PointCloudPtr cloud, IndicesConstPtr indices)</div><div class="ttdoc">set the points which index is in the indices vector to nan</div><div class="ttdef"><b>Definition:</b> world_model.hpp:255</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/<a class="el" href="world__model_8h_source.html">world_model.h</a></li>
<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/<a class="el" href="world__model_8hpp_source.html">world_model.hpp</a></li>
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